A kind of space large size target rolling characteristic microgravity simulatorTechnical field
The present invention relates to a kind of space large size target rolling characteristic microgravity simulators, belong to space junk and remove neckDomain.
Background technique
Space junk constitutes great threat to the space resources development activities of the mankind, for safety, constantly developsWith utilize space resources, must just seek the effective measures for controlling, slowing down space junk by every means.Currently, controlling, slowing down skyBetween fragment measure it is total be summed up, mainly prevent and administer two kinds.Prevention is exactly in Spacecraft Launch and operational processIn, the generation of space junk is reduced as far as possible, and improvement is exactly to try to remove already present space junk on track.
The ground experiment method that space junk is removed mainly includes parabolic flight method, water float glass process and hang spring suspension sideMethod, conventional method can not cope with the microgravity simulation of kinetic characteristic of the big mass space target of large volume in space six degree of freedom,And it cannot achieve the ground experiment of a plurality of mechanical arm cooperative motion control, it is difficult to realize and manipulation space junk target is combined to multi-armGround demonstration verifying.
Summary of the invention
Technology of the invention solves the problems, such as: it is special to overcome the deficiencies of the prior art and provide a kind of space large size target rollingProperty microgravity simulator, can to the big mass space target of large volume space six degree of freedom microgravity kinetic characteristic carry outSimulation can be realized the ground demonstration verifying for combining manipulation space junk target to multi-arm.
The technical solution of the invention is as follows:
A kind of space large size target rolling characteristic microgravity simulator, including pedestal, mechanical arm and target simulator；
Mechanical arm pedestal is fixed on the base, and tip designs have ball bearing；Mechanical arm supports mesh by the ball bearingMark simulator；
Target simulator is used to simulate the microgravity kinetic characteristic of space junk six degree of freedom, and acquires the position of itself in real timeIt sets attitude data and feeds back to mechanical arm；
Mechanical arm: the self-position attitude data fed back according to target simulator adjusts the movement velocity in each joint in real timeWith end ball bearing position, realizes and the ground demonstration of target simulator speed, position and gesture stability is verified.
Inertial Measurement Unit is installed at target simulator mass center, for obtain in real time target simulator three-dimensional position andAttitude data.
Using target simulator mass center as origin, rectangular coordinate system is established, is pacified respectively on each axis of the rectangular coordinate systemAn inertial flywheel is filled, three inertial flywheels are identical at a distance from mass center, and the different movement combination of three inertial flywheels realizes meshMark the different microgravity kinetic characteristic of simulator.
Pedestal is swum on air floating platform by air-bearing.
Air-bearing is uniformly distributed using the plumb line for crossing pedestal mass center as axis.
Mechanical arm is designed using two degrees of freedom.
The mechanical arm at least three.
Each mechanical arm is uniformly distributed using the plumb line for crossing pedestal mass center as axis.
The mass center and pedestal mass center of target simulator are located on same plumb line.
Target simulator is cube, cylinder or spherical shape.
Compared with prior art, the invention has the following beneficial effects:
(1) combining target simulator and mechanical arm of the present invention realize under surface condition to the micro- of space junk rollingGravitational motion simulation,
(2) present invention is designed using based on pneumatically supported pedestal, realizes the carrying and microgravity translation characteristic of large-scale target,The translation simulation of target is realized simultaneously.In conjunction with mechanical arm pair
(3) mechanical arm tail end of the present invention is designed using ball bearing, can adapt to each after mechanical arm is contacted with extraterrestrial targetTo movement, is realized by the cooperative motion of mechanical arm and the active operation of large-scale Tum bling Target complex space movement is fitted with passiveIt answers.
(4) mechanical arm of the present invention is designed using two degrees of freedom, and centroid position is constant in fully ensuring that target roll procedureWhile, mechanical arm quality and size are reduced, mechanism complexity is simplified.
Detailed description of the invention
Fig. 1 is composition schematic diagram of the present invention.
Specific embodiment
The present invention in order to solve the problems, such as the ground validation of space Tum bling Target kinetic characteristic, propose it is a kind of based on air bearing andThe extraterrestrial target rolling characteristic microgravity ground simulator of mechanical arm of the end with ball bearing.
As shown in Figure 1, the present invention includes pedestal 1, mechanical arm 2 and target simulator 3.
Pedestal 1 is swum on air floating platform by air-bearing 4.Air-bearing 4 with cross 1 mass center of pedestal plumb line beAxis is uniformly distributed.2 pedestal of mechanical arm is fixed on pedestal 1, and tip designs have ball bearing；Mechanical arm 2 is supported by ball bearingPlay target simulator 3.
Target simulator 3 is used to simulate the microgravity kinetic characteristic of space junk six degree of freedom, and acquires itself in real timePosition and attitude data feedback is to mechanical arm 2.
Specifically, Inertial Measurement Unit 31 is installed at 3 mass center of target simulator, for obtaining target simulator 3 in real timeThree-dimensional position and attitude data.Using 3 mass center of target simulator as origin, rectangular coordinate system is established, the rectangular coordinate systemOne inertial flywheel is installed respectively, three inertial flywheels 32,33,34 are identical at a distance from mass center, and three inertia fly on each axisIt takes turns different movement combinations and realizes the different microgravity kinetic characteristic of target simulator.Target simulator 3 uses inertia measurement listMember and flywheel realize active rotation and the state measurement of extraterrestrial target.
Mechanical arm 2: the self-position attitude data fed back according to target simulator 3 adjusts the movement speed in each joint in real timeDegree and end ball bearing position are realized and are verified to the ground demonstration of 3 speed of target simulator, position and gesture stability.
Specifically, mechanical arm 2 is designed using two degrees of freedom.Mechanical arm 2 at least three.Each mechanical arm 2 is to cross pedestal 1The plumb line of mass center is uniformly distributed for axis.3 mechanical arms A, B, C are shown in Fig. 1.
The mass center and 1 mass center of pedestal of target simulator 3 are located on same plumb line.
Apparatus of the present invention mainly verify mechanical arm 2 and its control algolithm controls whether to reach pre- to target simulator 3It sets the goal.
Using the ground experiment method of apparatus of the present invention, steps are as follows:
(1) start mechanical arm, so that it is moved to designated position according to preset instructions, and make the end ball axis of each mechanical armRotation is held to specified posture；
(2) target simulator is placed on mechanical arm tail end ball bearing, each mechanical arm is made to support target simulationDevice；
(3) gas circuit for connecting air-bearing, swims in pedestal on air floating platform；
(4) the inertial flywheel movement inside target simulator is controlled, with the tumbling motion characteristic of simulation space aim, simultaneouslyMechanical arm reads the position and attitude data of IMU (Inertial Measurement Unit) feedback in real time；
(5) according to the algorithm being pre-designed, each manipulator motion is controlled, is realized to extraterrestrial target speed, position and appearanceGround demonstration verifying is completed in the control of state.
A kind of space large size target rolling characteristic microgravity simulator of the present invention, can be to large volume (diameter 1m or more)Big quality (1.5 tons or more) extraterrestrial target is simulated in the microgravity kinetic characteristic of space six degree of freedom, can be realized to moreThe ground demonstration verifying of arm joint manipulation space junk target.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.